This paper presents iterative forward kinematics algorithms for cable-driven parallel robots (CDPRs) that are based on Halley’s method. In contrast to other iterative forward kinematics methods that use a linearization of the CDPRs loop-closure equations, such as Newton’s method or the Levenberg-Marquardt method, Halley’s method uses a second-order Taylor series approximation of these equations. A hybrid method is also proposed that performs a Halley update for the first few iterations and then switches to a Levenberg-Marquardt update. The proposed algorithms are applied to a six degree-of-freedom suspended CDPR and are shown to reduce the number of iterations and increase the rate of successful convergence to the truth pose compared to the Levenberg-Marquardt method. The proposed hybrid method reduces the computation time required for convergence compared to the Levenberg-Marquardt method in the presence of large initial estimation errors.


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    Title :

    Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025



    Publication date :

    2025-06-19


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English